From b53cd30994c8e4d7678664ad740cd05e2193215e Mon Sep 17 00:00:00 2001 From: Bill Finger Date: Sat, 17 Feb 2024 16:34:48 +0300 Subject: [PATCH] update poses due to the ros2 msgs --- asp-example/robossembler_db.json | 242 ++++++++++++++++++++----------- 1 file changed, 160 insertions(+), 82 deletions(-) diff --git a/asp-example/robossembler_db.json b/asp-example/robossembler_db.json index 4a5cfc1..89dcd4f 100644 --- a/asp-example/robossembler_db.json +++ b/asp-example/robossembler_db.json @@ -2,155 +2,233 @@ "assets_db": "assets", "workspace": [ { - "position": { "x": 0.2, "y": 0.20, "z": 0.0 } + "position": { "x": 0.2, "y": 0.2, "z": 0.0 } }, { - "position": { "x": 0.4, "y": 0.20, "z": 0.0 } + "position": { "x": 0.4, "y": 0.2, "z": 0.0 } }, { - "position": { "x": 0.4, "y": -0.20, "z": 0.0 } + "position": { "x": 0.4, "y": -0.2, "z": 0.0 } }, { - "position": { "x": 0.2, "y": -0.20, "z": 0.0 } + "position": { "x": 0.2, "y": -0.2, "z": 0.0 } } ], "absolutePart": { "name": "board", - "position": { "x": "0.500000", "y": "0.000000", "z": "0.000000" }, - "quaternion": { - "qw": "0.100000", - "qx": "0.000000", - "qy": "0.000000", - "qz": "0.000000" + "pose": { + "quaternion": { + "qw": "0.100000", + "qx": "0.000000", + "qy": "0.000000", + "qz": "0.000000" + }, + "position": { + "x": "0.500000", + "y": "0.000000", + "z": "0.000000" + } } }, "relativeParts": [ { "name": "bishop", "relativeAt": "board", - "position": { "x": "-0.001700", "y": "0.002927", "z": "-0.000003" }, - "quaternion": { - "qw": "1.000000", - "qx": "0.000000", - "qy": "0.000000", - "qz": "0.000000" + "pose": { + "quaternion": { + "qw": "1.000000", + "qx": "0.000000", + "qy": "0.000000", + "qz": "0.000000" + }, + "position": { + "x": "-0.001700", + "y": "0.002927", + "z": "-0.000003" + } } }, { "name": "king", "relativeAt": "board", - "position": { "x": "-0.008500", "y": "0.003729", "z": "0.000000" }, - "quaternion": { - "qw": "1.000000", - "qx": "0.000000", - "qy": "0.000000", - "qz": "0.000000" + "pose": { + "quaternion": { + "qw": "1.000000", + "qx": "0.000000", + "qy": "0.000000", + "qz": "0.000000" + }, + "pose": { + "x": "-0.008500", + "y": "0.003729", + "z": "0.000000" + } } }, { "name": "knight", "relativeAt": "board", - "position": { "x": "0.001700", "y": "0.003012", "z": "-0.000160" }, - "quaternion": { - "qw": "1.000000", - "qx": "0.000000", - "qy": "0.000000", - "qz": "0.000000" + "pose": { + "quaternion": { + "qw": "1.000000", + "qx": "0.000000", + "qy": "0.000000", + "qz": "0.000000" + }, + "pose": { + "x": "0.001700", + "y": "0.003012", + "z": "-0.000160" + } } }, { "name": "queen", "relativeAt": "board", - "position": { "x": "-0.005100", "y": "0.003340", "z": "0.000000" }, - "quaternion": { - "qw": "1.000000", - "qx": "0.000000", - "qy": "0.000000", - "qz": "0.000000" + "position": { + "quaternion": { + "qw": "1.000000", + "qx": "0.000000", + "qy": "0.000000", + "qz": "0.000000" + }, + "position": { + "x": "-0.005100", + "y": "0.003340", + "z": "0.000000" + } } }, { "name": "pawn", "relativeAt": "board", - "position": { "x": "0.008500", "y": "0.002238", "z": "0.000000" }, - "quaternion": { - "qw": "1.000000", - "qx": "0.000000", - "qy": "0.000000", - "qz": "0.000000" + "pose": { + "quaternion": { + "qw": "1.000000", + "qx": "0.000000", + "qy": "0.000000", + "qz": "0.000000" + }, + "position": { + "x": "0.008500", + "y": "0.002238", + "z": "0.000000" + } } }, { "name": "rook", "relativeAt": "board", - "position": { "x": "0.005100", "y": "0.002667", "z": "0.000000" }, - "quaternion": { - "qw": "1.000000", - "qx": "0.000000", - "qy": "0.000000", - "qz": "0.000000" + "pose": { + "quaternion": { + "qw": "1.000000", + "qx": "0.000000", + "qy": "0.000000", + "qz": "0.000000" + }, + "position": { + "x": "0.005100", + "y": "0.002667", + "z": "0.000000" + } } } ], "graspPoseModels": [ { "name": "king", - "position": { "x": "-0.000020", "y": "0.003071", "z": "0.000000" }, - "quaternion": { - "qw": "0.525322", - "qx": "0.000000", - "qy": "0.850904", - "qz": "0.000000" + "pose": { + "quaternion": { + "qw": "0.525322", + "qx": "0.000000", + "qy": "0.850904", + "qz": "0.000000" + }, + "position": { + "x": "-0.000020", + "y": "0.003071", + "z": "0.000000" + } } }, { "name": "queen", - "position": { "x": "0.000038", "y": "0.003360", "z": "0.000000" }, - "quaternion": { - "qw": "0.525322", - "qx": "0.000000", - "qy": "0.850904", - "qz": "0.000000" + "pose": { + "quaternion": { + "qw": "0.525322", + "qx": "0.000000", + "qy": "0.850904", + "qz": "0.000000" + }, + "position": { + "x": "0.000038", + "y": "0.003360", + "z": "0.000000" + } } }, { "name": "bishop", - "position": { "x": "0.000000", "y": "0.0", "z": "0.056" }, - "quaternion": { - "qw": "0.525322", - "qx": "0.000000", - "qy": "0.850904", - "qz": "0.000000" + "position": { + "quaternion": { + "qw": "0.525322", + "qx": "0.000000", + "qy": "0.850904", + "qz": "0.000000" + }, + "pose": { + "x": "0.000000", + "y": "0.0", + "z": "0.056" + } } }, { "name": "knight", - "position": { "x": "0.000000", "y": "0.002604", "z": "-0.000440" }, - "quaternion": { - "qw": "0.200770", - "qx": "-0.400576", - "qy": "0.799230", - "qz": "-0.400576" + "position": { + "quaternion": { + "qw": "0.200770", + "qx": "-0.400576", + "qy": "0.799230", + "qz": "-0.400576" + }, + "position": { + "x": "0.000000", + "y": "0.002604", + "z": "-0.000440" + } } }, { "name": "rook", - "position": { "x": "0.000000", "y": "0.002233", "z": "0.000000" }, - "quaternion": { - "qw": "0.525322", - "qx": "0.000000", - "qy": "0.850904", - "qz": "0.000000" + "position": { + "quaternion": { + "qw": "0.525322", + "qx": "0.000000", + "qy": "0.850904", + "qz": "0.000000" + }, + "position": { + "x": "0.000000", + "y": "0.002233", + "z": "0.000000" + } } }, { "name": "pawn", - "position": { "x": "0.000000", "y": "0.002162", "z": "0.000000" }, - "quaternion": { - "qw": "0.525322", - "qx": "0.000000", - "qy": "0.850904", - "qz": "0.000000" + "position": { + "quaternion": { + "qw": "0.525322", + "qx": "0.000000", + "qy": "0.850904", + "qz": "0.000000" + }, + "position": { + "x": "0.000000", + "y": "0.002162", + "z": "0.000000" + } } } ]